diff --git a/Mybuddy/mybuddy/scripts/follow_display.py b/Mybuddy/mybuddy/scripts/follow_display.py
index 202bfbf..872e7d5 100755
--- a/Mybuddy/mybuddy/scripts/follow_display.py
+++ b/Mybuddy/mybuddy/scripts/follow_display.py
@@ -117,7 +117,7 @@ def talker():
         #     waist_radian = [0]
         #     print("set waist_radian:%s" % waist_radian)
             
-        mb.set_encoder(3,1,waist_radian[0]*4096/(2*math.pi)+2048,1)
+        # mb.set_encoder(3,1,waist_radian[0]*4096/(2*math.pi)+2048,1)
 
 
         # =======all_radians=======
@@ -145,9 +145,10 @@ def talker():
             # rospy.loginfo("error [101]: can not get right_coords values")
             right_coords = [50.4, -63.4, 411.6, -91.23, -0.08, -90.08]
         #     # print("set rc:",right_coords)
+        # right_coords = [50.4, -63.4, 411.6, -91.23, -0.08, -90.08]
 
-        right_coords = [50.4, -63.4, 411.6, -91.23, -0.08, -90.08]
-
+        waist_coords = mb.get_coords(3)
+        print("waist_coords: %s " % waist_coords)
         # coords = left_coords + right_coords
         # print("all_coords:%s" % coords) 
 
@@ -170,6 +171,10 @@ def talker():
         marker_.pose.position.y = right_coords[0] / 1000
         marker_.pose.position.z = right_coords[2] / 1000
 
+        time.sleep(0.02)
+
+        marker_.pose.position.x = waist_coords[1] / 1000 * -1
+        
         marker_.color.a = 1.0
         marker_.color.r = 0.0
         marker_.color.g = 1.0
diff --git a/Mybuddy/mybuddy/scripts/slider_control.py b/Mybuddy/mybuddy/scripts/slider_control.py
index 2c491a8..3ca5c64 100755
--- a/Mybuddy/mybuddy/scripts/slider_control.py
+++ b/Mybuddy/mybuddy/scripts/slider_control.py
@@ -43,7 +43,7 @@ def callback(data):
     time.sleep(0.02)
 
     # print(data_list3[0])
-    # mb.send_angle(3,1,data_list3[0]* (180 / math.pi),50)
+    # mb.send_angle(3,1,data_list3[0]* (180 / math.pi),350)
     # mb.send_radians(3,data_list3, 50)
 
     mb.set_encoder(3,1,data_list3[0]*4096/(2*math.pi)+2048,1)
diff --git a/Mybuddy/mybuddy/scripts/test_control.py b/Mybuddy/mybuddy/scripts/test_control.py
index b0fd257..11d2e61 100644
--- a/Mybuddy/mybuddy/scripts/test_control.py
+++ b/Mybuddy/mybuddy/scripts/test_control.py
@@ -12,7 +12,7 @@ mb = MyBuddy(port, baud)
 # mb.set_free_mode(2)
 # mb.power_on()
 # mb.release_all_servos()
-# mb.set_servo_calibration(1,4)
+# mb.set_servo_calibration(3,1)
 
 # i = 1
 # while i < 7:
@@ -23,7 +23,7 @@ mb = MyBuddy(port, baud)
 '''
 ------------get info--------------
 '''
-# print(mb.get_radians(2))
+# print(mb.get_radians(1))
 # print(mb.get_encoders(3))
 # print(mb.get_encoder(1,1))
 # print(mb.get_angles(1))
@@ -40,5 +40,5 @@ mb = MyBuddy(port, baud)
 # print(mb.get_angles(2))
 # mb.send_angles(1,[0,0,0,0,0,0],30,0)
 # mb.send_angle(1,3,30,30)
-# mb.set_encoder()
+# mb.set_encoder(3,1,2048,1)
 time.sleep(1)
\ No newline at end of file